JP3506008B2 - Body assembly method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for assembling a vehicle body by inserting a front or rear sub-assembly into a vehicle body main assembly. [0002] When assembling a truck cabin,
A front assembly and a rear assembly as sub-assemblies are assembled and joined to an under-assembly as a vehicle body main assembly constituting a floor portion. When the front assembly and the rear assembly are joined to the under assembly, the front assembly and the rear assembly are expanded in the vehicle width direction within the elastic deformation range, inserted into the under assembly, and fixed to each other by welding. A conventional method of assembling a vehicle body when assembling a cabin will be described with reference to FIG. FIG. 9 shows a schematic configuration in a state where a conventional vehicle body assembling method is performed. [0004] As shown in the figure, a set jig 2 for positioning and fixing an under-assembly 1 is provided at a site for assembling the cabin, and a set jig 4 of a front assembly 3 is disposed in front of the set jig 2. A set jig 6 for the rear assembly 5 is disposed rearward.
The front assembly 3 and the rear assembly 5 are set horizontally on set jigs 4 and 6. On the other hand, a frame 7 is formed around the jig of the under assembly 1 and the set jigs 4 and 6 are turned by 90 degrees to rotate the front assembly 3 and the rear assembly 5.
The set jigs 4 and 6 come into contact with the frame body 7 in the upright state, and the front assembly 3 and the rear assembly 5 are positioned with respect to the under-assembly 1. [0006] The set jigs 4 and 6 are provided with a rotating means 8 for rotating themselves, a restraining means 9 for holding the front assembly 3 and the rear assembly 5 in a freely positionable manner, and when inserting the rear assembly 5 into the under-assembly 1. An expanding means 10 for expanding the vehicle in the vehicle width direction is provided. Further, the frame 7 is provided with a dedicated welding device (not shown) for welding the front assembly 3, the rear assembly 5, and the under assembly 1 to each other. When the front assembly 3 and the rear assembly 5 are carried into the set jigs 4, 6, the restraining means 9
And is expanded in the vehicle width direction by the expanding means 10. When the set jigs 4 and 6 are rotated 90 degrees (in the direction of the arrow X) by the rotating means 8, the frame 7 is rotated.
The jigs 4 and 6 abut against each other and are positioned, and are inserted into the under-assembly 1 with the front assembly 3 and the rear assembly 5 standing. In particular, the rear assembly 5 is inserted while being expanded by the expanding means 10. After being inserted into the under-assembly 1, the front assembly 3 and the rear assembly 5 are closed by the expanding means 10 and welded by the welding device 11. In the conventional vehicle body assembling method, the structure and shape of the joint between the front assembly 3 and the rear assembly 5 and the under-assembly 1 are different for each type of vehicle, so that the front assembly 3 and the rear assembly are different. Many members such as exclusive restraint means 9 and expansion means 10 must be provided on the set jigs 4 and 6 on which the set 5 is set. For this reason, the set jigs 4 and 6 are required for each type of vehicle, and a dedicated line is required. It is necessary to newly set the set jigs 4 and 6 and the line for each model change. Further, the set jigs 4 and 6 need many members such as the restraining means 9 and the expanding means 10.
The size of the frame 6 is increased, and the frame 7 is required to perform positioning while suppressing the burden on the rotating means 8, and the increase in size is inevitable. [0010] By the way, in place of the set jigs 4 and 6, the work is transported and positioned by a robot.
No. 10825. However, if the method of expanding the sub-assembly and inserting it into the main assembly is to be applied as it is to a conventional robot-based technology, a mechanism for expanding the sub-assembly must be incorporated into the gripping hand of the robot. . For this reason, the gripping hand of the robot becomes complicated, and the size and weight are increased, so that a larger robot is required. In addition, it is necessary to manufacture a gripping hand of a robot for each vehicle type, which increases the production cost and increases the investment amount. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and a method of assembling a plurality of vehicle types without increasing the size of a device in a method of assembling a vehicle body in which a sub-assembly is expanded and inserted into a main assembly. It is an object of the present invention to provide a method of assembling a vehicle body. [0012] [Means for Solving the Problems] body assembly method tracks the cabin of the present invention for achieving the above object, the conveyance instrumentation
Transports and positions the vehicle body main assembly
A positioning jig and a portable jig for gripping the sub-assembly when assembling a front or rear sub-assembly to the vehicle body main assembly are respectively provided.
A connecting step of expanding the connection portion of the sub-assembly in the vehicle width direction within a range of elastic deformation by a pair of left and right robot gripping hands mounted and inserted into the vehicle body main assembly side, and a movable jig. a positioning step for positioning the sub-assembly jigs positioned fixedly, gripped by the gripping hand of the robot
After releasing the portable jig,
With the welding device attached to the sub-assembly and the welding step of welding the vehicle body main assembly, the sub-assembly is transported and inserted by a pair of left and right robots, and positioning of the sub-assembly for welding is performed. By using a movable jig and creating a portable jig for holding the sub-assembly for each vehicle type, it can handle different vehicle types, reduce investment in vehicle type change, and support the production of multiple vehicle types on the same line. FIG. 1 shows a layout of an apparatus for carrying out a vehicle body assembling method according to an embodiment of the present invention. FIG. 2 shows a schematic configuration of an assembling portion of a rear assembly.
FIG. 3 shows an assembled state of the cabin. The assembled state of the truck cabin 21 will be described with reference to FIG. As shown in FIG. 3, the cabin 21 has a front assembly 23 and a rear assembly 24 as sub-assemblies, while an under-assembly 22 as a vehicle body main assembly and a sub-assembly.
Are joined together. The lower portions of the front assembly 23 and the rear assembly 24 are expanded in the vehicle width direction within the elastic deformation range, and
The upper parts of the front assembly 23 and the rear assembly 24 are inserted into the front assembly 23 by expanding the rear assembly 24, and are fixed to each other by welding. Referring to FIG. 1, the layout of an apparatus for implementing the vehicle body assembling method will be described. As shown in FIG. 1, the under-assembly 22 is conveyed by a conveying device 26 to an assembly site 25 where the cabin 21 is assembled, and is positioned and fixed. A pair of left and right (up and down in the figure) robots 27 is provided on the front side and the rear side of the assembly site 25, respectively.
The portable jig 28 is gripped by the gripping portion. The front assembly 23 and the rear assembly 24 are transported to the installation site of each pair of robots 27 by transport devices 31 and 32 of an overhead conveyor type, respectively.
, The front assembly 23 or the rear assembly 24 is held. The pair of robots 27 has many degrees of freedom (for example, 6 robots).
Degrees of freedom) and a cooperative operation control function, so that they are operated in cooperation with each other. Assembly part 25
A movable jig 29 is provided on the side of the movable jig 29.
Performs positioning while holding the portable jig 28. Also,
The holding unit of each robot 27 holds the welding device 30. The device on the rear assembly 24 side will be described with reference to FIG. The device on the front assembly 23 side has the same configuration. As shown in FIG. 2, a gripping hand 33 of each robot 27 has six degrees of freedom, and a portable jig 28 is gripped by each gripping hand 33, and a rear assembly is held by a pair of portable jigs 28. 24 are retained. The portable jig 28 is provided with a positioning pin, a locator, and the like according to the rear assembly 24, and holds the rear assembly 24 in a predetermined posture by the pair of portable jigs 28. Further, the gripping hands 33 of each robot 27 can be gripped by the welding device 30. The robot 27, which holds the rear assembly 24 via a portable jig 28, performs a forward / backward movement, a vertical movement, a rotation, a turning operation, and the like by a cooperative operation, and moves the received rear assembly 24 to an elastic deformation range. And is conveyed to the assembly site 25 after being expanded in the vehicle width direction. The movable jig 29 installed on the side of the assembly site 25 has a front and rear base 42 supported on a base 41 so as to be reciprocally movable in the front and rear direction (the direction of arrow A), and a pair of positioning posts on the front and rear base 42. 4
3 can move freely toward and away from each other and simultaneously in the left-right direction (arrow B
Direction). The portable jig 28 is held between the pair of positioning posts 43, and the portable jig 28 is positioned by the movement of the front and rear bases 42 and the pair of positioning posts 43, that is, held on the portable jig 28. The rear assembly 24 is positioned. Next, a method of assembling the cabin 21 by the above-described apparatus with reference to FIGS.
4 will be described as an example. 4 to 8 show the cabin 2
The process of assembling one under assembly 22 is shown. Incidentally, the assembly of the front assembly 23 is similarly performed. On the main jig (not shown) of the assembly site 25, the under-assembly 22 is
6 and is positioned and fixed (fixing step). As shown in FIG. 4A, a pair of robots 2
The portable jig 28 is gripped by the gripping hand 33 of FIG. 7, and the rear assembly 24 conveyed by the conveying device 32 is held by the pair of portable jigs 28 in an upward state. Fig. 4 (b)
As shown in the figure, the gripping hand 33 is rotated 90 degrees in the direction of arrow C by the cooperative operation of the pair of robots 27 to raise the rear assembly 24, and the gripping hand 33 is further opened in the direction of arrow D to elastically deform the rear assembly 24. It expands in the vehicle width direction within the range. As shown in FIG. 5A, the movable jig 29
The front and rear bases 42 are retracted, and a pair of positioning posts 4
3 are moving away from each other. A pair of robots 2
7, the gripping hand 33 moves forward, and the rear assembly 24 that has been expanded in the vehicle width direction is transported to the under-assembly 22. At this time, as shown in FIG. 6, the lower part of the rear assembly 24 in the state of being expanded in the vehicle width direction is inserted into the under assembly 22 and the upper part of the rear assembly 24 is inserted into the front assembly 23 (not shown). After the rear assembly 24 that has been expanded in the vehicle width direction is inserted into the under assembly 22 (the front assembly 23), the gripping hand 33 is closed in the direction opposite to the arrow D to close the expansion in the vehicle width direction (insertion process). ). After the insertion step is completed, as shown in FIG. 5B, the front and rear bases 42 are advanced and the pair of positioning posts 43 are moved closer to each other, and the portable jig 28 is moved by the pair of positioning posts 43. Pinch. The gripping of the portable jig 28 by the gripping hands 33 of the pair of robots 27 is released, and the positioning of the portable jig 28 is performed by the movement of the front and rear bases 42 and the movement of the pair of positioning posts 43. The positioning of the rear assembly 24 held by 28 with respect to the under-assembly 22 (front assembly 23) is performed (positioning step). As shown in FIG. 7, the pair of robots 27 having released the portable jigs 28 respectively hold the welding devices 30 with the gripping hands 33, and operate the robots 27 individually to move the welding devices 30. , Rear assembly 24 to under-assembly 22 (front assembly 23)
(Welding process). After the welding is completed, the pair of robots 27 release the welding device 30 and grip the portable jig 28 with the gripping hand 33 as shown in FIG. Then, the pair of positioning posts 43 move away from each other, the front and rear bases 42 of the movable jig 29 are retracted, and the assembled cabin 21 is carried out, and the portable jig released from the positioning posts 43. The tool 28 is returned to the loading section of the rear assembly 24 by the pair of robots 27. By repeating the above steps, the cabin 21 having a structure in which the connecting portion of the rear assembly 24 is expanded in the vehicle width direction within the elastic deformation range and inserted into the under assembly 22 (the front assembly 23) is assembled. When the shape of the rear assembly 24 or the front assembly 23 is changed due to a change in the type of vehicle, only the portable jig 28 is replaced with one corresponding to the changed shape, and the insertion process and positioning are performed by the same operation as described above. The cabin is assembled by performing a process and a welding process. In the above-described method for assembling the cabin 21, the rear assembly 24 is transported and inserted by the cooperative operation of the pair of robots 27, and the rear assembly 24 is positioned by the front and rear bases 42 of the movable jig 29 and the pair of positioning posts. Because it was done by moving 43,
The size of the apparatus is not increased, and a different type of vehicle can be accommodated by creating a portable jig 28 for holding the rear assembly 24 and the front assembly 23 for each vehicle type. For this reason, a large-scale remodeling is not required at the time of changing the model, and it is possible to cope with the production of a plurality of models on the same line, so that the capital investment can be greatly reduced. According to the method for assembling a truck cabin body according to the present invention, a vehicle body main assembly is transported by a transport device.
A positioning step for positioning, and a portable type for gripping the sub-assembly when assembling a front or rear sub-assembly to the vehicle body main assembly
A pair of left and right robot gripping hanks each with a jig
The connecting part of the sub-assembly is expanded in the width direction of the vehicle within the range of elastic deformation and inserted into the vehicle body main assembly side, and the movable jig is positioned and fixed by a movable jig. a positioning step for positioning the assembly, gripping Han of the robot
After releasing the portable jig held by the
A welding process for welding the sub-assembly and the vehicle body main assembly by a welding device attached to the gripping hand of the sub-assembly. By using a movable jig for positioning, a portable jig for holding the sub-assembly can be created for each type of vehicle, making it possible to support different types of vehicles.
It is possible to cope with the production of a plurality of models on the same line by reducing investment when changing the model. As a result, in the vehicle body assembling method in which the sub-assembly is expanded and inserted into the main assembly, it is possible to cope with assembling of a plurality of vehicle types without increasing the size of the apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a layout diagram of an apparatus for performing a vehicle body assembling method according to an embodiment of the present invention. FIG. 2 is a schematic configuration diagram of an assembly part of a rear assembly. FIG. 3 is an explanatory view of an assembled state of a cabin. FIG. 4 is an explanatory view of a cabin assembling process. FIG. 5 is an explanatory view of a cabin assembling process. FIG. 6 is an explanatory view of a cabin assembling process. FIG. 7 is an explanatory view of a cabin assembling process. FIG. 8 is an explanatory view of a cabin assembling process. FIG. 9 is a schematic configuration diagram showing a state where a conventional vehicle body assembling method is performed. DESCRIPTION OF SYMBOLS 21 Cabin 22 Under assembly 23 Front assembly 24 Rear assembly 25 Assembly parts 26, 31, 32 Transport device 27 Robot 28 Portable jig 29 Movable jig 30 Welding device 33 Gripping hand 41 Base 42 Front and rear base 43 Positioning post

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Claims (1)

(57) [Claims] [Claim 1] Vehicle body main assembly by a transfer device
The Sabuasse In the assembled and positioning step of conveying and positioning, the subassembly of the front or rear with respect to the vehicle body main assembly
Left and right with portable jigs for holding the assembly
An insertion step of expanding the connection portion of the sub-assembly in the vehicle width direction within a range of elastic deformation by a pair of robot gripping hands and inserting the sub-assembly into the vehicle body main assembly side, and positioning and fixing the portable jig by a movable jig A positioning step of positioning the sub-assembly and disassembling the portable jig held by the holding hand of the robot.
After release, the welding
A vehicle assembly method for a truck cabin , comprising: a welding step of welding the sub-assembly and the vehicle body main assembly by a contact device .